Python mlab.plot3d方法代码示例

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def show(plane):
        P = meshcut.cross_section_mesh(mesh, plane)
        colors = [
            (0, 1, 1),
            (1, 0, 1),
            (0, 0, 1)
        ]
        print("num contours : ", len(P))

        if True:
            utils.trimesh3d(mesh.verts, mesh.tris, color=(1, 1, 1),
                            opacity=0.5, representation='wireframe')
            utils.show_plane(plane.orig, plane.n, scale=1, color=(1, 0, 0),
                             opacity=0.5)

            for p, color in zip(P, itertools.cycle(colors)):
                p = np.array(p)
                mlab.plot3d(p[:, 0], p[:, 1], p[:, 2], tube_radius=None,
                            line_width=3.0, color=color)
        return P

    ## 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def plot3d_all(trajectories, tracks):
    """
    Plot all tracks on a single 2d slice
    :param trajectories: dictionary output of the Alyx REST query on trajectories
    :param tracks:
    :return:
    """
    from mayavi import mlab
    src = mlab.pipeline.scalar_field(brat.label)
    mlab.pipeline.iso_surface(src, contours=[0.5, ], opacity=0.3)

    pts = []
    for xyz in tracks['xyz']:
        mlapdv = brat.bc.xyz2i(xyz)
        pts.append(mlab.plot3d(mlapdv[:, 1], mlapdv[:, 0], mlapdv[:, 2], line_width=3))

    plt_trj = []
    for trj in trajectories:
        ins = atlas.Insertion.from_dict(trj, brain_atlas=brat)
        mlapdv = brat.bc.xyz2i(ins.xyz)
        plt = mlab.plot3d(mlapdv[:, 1], mlapdv[:, 0], mlapdv[:, 2],
                          line_width=3, color=(1., 0., 1.))
        plt_trj.append(plt) 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def draw_gt_boxes3d(gt_boxes3d, fig, color=(1, 1, 1)):
    """
    Draw 3D bounding boxes
    Args:
        gt_boxes3d: numpy array (3,8) for XYZs of the box corners
        fig: figure handler
        color: RGB value tuple in range (0,1), box line color
    """
    for k in range(0, 4):
        i, j = k, (k + 1) % 4
        mlab.plot3d([gt_boxes3d[0, i], gt_boxes3d[0, j]], [gt_boxes3d[1, i], gt_boxes3d[1, j]],
                    [gt_boxes3d[2, i], gt_boxes3d[2, j]], tube_radius=None, line_width=2, color=color, figure=fig)

        i, j = k + 4, (k + 1) % 4 + 4
        mlab.plot3d([gt_boxes3d[0, i], gt_boxes3d[0, j]], [gt_boxes3d[1, i], gt_boxes3d[1, j]],
                    [gt_boxes3d[2, i], gt_boxes3d[2, j]], tube_radius=None, line_width=2, color=color, figure=fig)

        i, j = k, k + 4
        mlab.plot3d([gt_boxes3d[0, i], gt_boxes3d[0, j]], [gt_boxes3d[1, i], gt_boxes3d[1, j]],
                    [gt_boxes3d[2, i], gt_boxes3d[2, j]], tube_radius=None, line_width=2, color=color, figure=fig)
    return fig 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def draw_lidar_simple(pc, color=None):
    ''' Draw lidar points. simplest set up. '''
    fig = mlab.figure(figure=None, bgcolor=(0,0,0), fgcolor=None, engine=None, size=(1600, 1000))
    if color is None: color = pc[:,2]
    #draw points
    mlab.points3d(pc[:,0], pc[:,1], pc[:,2], color, color=None, mode='point', colormap = 'gnuplot', scale_factor=1, figure=fig)
    #draw origin
    mlab.points3d(0, 0, 0, color=(1,1,1), mode='sphere', scale_factor=0.2)
    #draw axis
    axes=np.array([
        [2.,0.,0.,0.],
        [0.,2.,0.,0.],
        [0.,0.,2.,0.],
    ],dtype=np.float64)
    mlab.plot3d([0, axes[0,0]], [0, axes[0,1]], [0, axes[0,2]], color=(1,0,0), tube_radius=None, figure=fig)
    mlab.plot3d([0, axes[1,0]], [0, axes[1,1]], [0, axes[1,2]], color=(0,1,0), tube_radius=None, figure=fig)
    mlab.plot3d([0, axes[2,0]], [0, axes[2,1]], [0, axes[2,2]], color=(0,0,1), tube_radius=None, figure=fig)
    mlab.view(azimuth=180, elevation=70, focalpoint=[ 12.0909996 , -1.04700089, -2.03249991], distance=62.0, figure=fig)
    return fig 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def test_plot3d():
    import numpy
    from mayavi import mlab

    """Generates a pretty set of lines."""
    n_mer, n_long = 6, 11
    pi = numpy.pi
    dphi = pi / 1000.0
    phi = numpy.arange(0.0, 2 * pi + 0.5 * dphi, dphi)
    mu = phi * n_mer
    x = numpy.cos(mu) * (1 + numpy.cos(n_long * mu / n_mer) * 0.5)
    y = numpy.sin(mu) * (1 + numpy.cos(n_long * mu / n_mer) * 0.5)
    z = numpy.sin(n_long * mu / n_mer) * 0.5

    l = mlab.plot3d(x, y, z, numpy.sin(mu), tube_radius=0.025, colormap='Spectral')
    mlab.show() 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def show(plane, expected_n_contours):
        P = meshcut.cross_section_mesh(mesh, plane)
        colors = [
            (0, 1, 1),
            (1, 0, 1),
            (0, 0, 1)
        ]
        print("num contours : ", len(P), ' expected : ', expected_n_contours)

        if True:
            utils.trimesh3d(mesh.verts, mesh.tris, color=(1, 1, 1),
                            opacity=0.5)
            utils.show_plane(plane.orig, plane.n, scale=1, color=(1, 0, 0),
                             opacity=0.5)

            for p, color in zip(P, itertools.cycle(colors)):
                p = np.array(p)
                mlab.plot3d(p[:, 0], p[:, 1], p[:, 2], tube_radius=None,
                            line_width=3.0, color=color)
        return P

    ##
    # This will align the plane with some edges, so this is a good test
    # for vertices intersection handling 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def plot(self, points=None):

        tube_rad = max(self.lattice.lengths) / 100.0

        frame, line1, line2, line3 = self.lattice.get_path()
        for i, j, k in [[frame[:, 0], frame[:, 1], frame[:, 2]],
                        [line1[:, 0], line1[:, 1], line1[:, 2]],
                        [line2[:, 0], line2[:, 1], line2[:, 2]],
                        [line3[:, 0], line3[:, 1], line3[:, 2]]]:
            mlab.plot3d(i, j, k, tube_radius=tube_rad, color=(1, 1, 1), tube_sides=24, transparent=True, opacity=0.5)

        if points is not None:
            ip = np.array(points)
            mlab.points3d(ip[:, 0], ip[:, 1], ip[:, 2], tube_rad * np.ones(len(ip)), scale_factor=1)

        return mlab.pipeline 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def draw_lidar(pc, color=None, fig=None, bgcolor=(0, 0, 0), pts_scale=1, pts_mode='point', pts_color=None):
    """
    Add lidar points
    Args:
        pc: point cloud xyz [npoints, 3]
        color:
        fig: fig handler
    Returns:

    """
    ''' Draw lidar points
    Args:
        pc: numpy array (n,3) of XYZ
        color: numpy array (n) of intensity or whatever
        fig: mayavi figure handler, if None create new one otherwise will use it
    Returns:
        fig: created or used fig
    '''
    if fig is None:
        fig = mlab.figure(figure=None, bgcolor=bgcolor, fgcolor=None, engine=None, size=(1600, 1000))
    if color is None:
        color = pc[:, 2]

    # add points
    mlab.points3d(pc[:, 0], pc[:, 1], pc[:, 2], color, color=pts_color, mode=pts_mode, colormap='gnuplot',
                  scale_factor=pts_scale, figure=fig)

    # # draw origin
    # mlab.points3d(0, 0, 0, color=(1, 1, 1), mode='sphere', scale_factor=0.2)

    # draw axis
    axes = np.array([
        [2., 0., 0., 0.],
        [0., 2., 0., 0.],
        [0., 0., 2., 0.],
    ], dtype=np.float64)
    mlab.plot3d([0, axes[0, 0]], [0, axes[0, 1]], [0, axes[0, 2]], color=(1, 0, 0), tube_radius=None, figure=fig)
    mlab.plot3d([0, axes[1, 0]], [0, axes[1, 1]], [0, axes[1, 2]], color=(0, 1, 0), tube_radius=None, figure=fig)
    mlab.plot3d([0, axes[2, 0]], [0, axes[2, 1]], [0, axes[2, 2]], color=(0, 0, 1), tube_radius=None, figure=fig)

    return fig 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def show_pc_segments(pc_all, pc_all2, pc_segments):
   """
   3D visualization of segmentation result
   """
   from mayavi import mlab
   mlab.figure(bgcolor=(0.0,0.0,0.0))
   mlab.points3d(pc_all[:,0],pc_all[:,1],pc_all[:,2],scale_factor=0.1,color=(0.3,0.2,0.2),opacity=0.3)
   mlab.points3d(pc_all2[:,0],pc_all2[:,1],pc_all2[:,2],scale_factor=0.1,color=(0.4,0.4,0.4),opacity=1.0)

   for i in range(len(pc_segments)):
       color = (random.random()*0.8 + 0.2  ,random.random()*0.8 + 0.2  ,random.random()*0.8 + 0.2)
       nodes1 = mlab.points3d(pc_segments[i][:,0],pc_segments[i][:,1],pc_segments[i][:,2],scale_factor=0.1,color=color,opacity=0.8)

       nodes1.glyph.scale_mode = 'scale_by_vector'


   length_axis = 2.0
   linewidth_axis = 0.1
   color_axis = (1.0,0.0,0.0)
   pc_axis = np.array([[0,0,0], [length_axis,0,0], [0,length_axis,0],[0,0,length_axis]])
   mlab.plot3d(pc_axis[0:2,0], pc_axis[0:2,1], pc_axis[0:2,2],tube_radius=linewidth_axis, color=(1.0,0.0,0.0))
   mlab.plot3d(pc_axis[[0,2],0], pc_axis[[0,2],1], pc_axis[[0,2],2],tube_radius=linewidth_axis, color=(0.0,1.0,0.0))
   mlab.plot3d(pc_axis[[0,3],0], pc_axis[[0,3],1], pc_axis[[0,3],2],tube_radius=linewidth_axis, color=(0.0,0.0,1.0))


   mlab.show() 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def draw_coordinate_frame_at_origin(fig: Figure) -> Figure:
    """
    Draw the origin and 3 vectors representing standard basis vectors to express
    a coordinate reference frame.
    Args:
       fig: Mayavi figure
    Returns:
       Updated Mayavi figure
    Based on
    --------
    https://github.com/hengck23/didi-udacity-2017/blob/master/baseline-04/kitti_data/draw.py
    https://github.com/charlesq34/frustum-pointnets/blob/master/mayavi/viz_util.py
    """
    # draw origin
    mlab.points3d(0, 0, 0, color=(1, 1, 1), mode="sphere", scale_factor=0.2)

    # Form standard basis vectors e_1, e_2, e_3
    axes = np.array([[2.0, 0.0, 0.0], [0.0, 2.0, 0.0], [0.0, 0.0, 2.0]], dtype=np.float64)
    # e_1 in red
    mlab.plot3d(
        [0, axes[0, 0]], [0, axes[0, 1]], [0, axes[0, 2]], color=(1, 0, 0), tube_radius=None, figure=fig
    )
    # e_2 in green
    mlab.plot3d(
        [0, axes[1, 0]], [0, axes[1, 1]], [0, axes[1, 2]], color=(0, 1, 0), tube_radius=None, figure=fig
    )
    # e_3 in blue
    mlab.plot3d(
        [0, axes[2, 0]], [0, axes[2, 1]], [0, axes[2, 2]], color=(0, 0, 1), tube_radius=None, figure=fig
    )

    return fig 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def draw_gt_boxes3d(gt_boxes3d, fig, color=(1,1,1), line_width=2, draw_text=True, text_scale=(1,1,1), color_list=None):
    ''' Draw 3D bounding boxes
    Args:
        gt_boxes3d: numpy array (n,8,3) for XYZs of the box corners
        fig: mayavi figure handler
        color: RGB value tuple in range (0,1), box line color
        line_width: box line width
        draw_text: boolean, if true, write box indices beside boxes
        text_scale: three number tuple
        color_list: a list of RGB tuple, if not None, overwrite color.
    Returns:
        fig: updated fig
    ''' 
    num = len(gt_boxes3d)
    for n in range(num):
        b = gt_boxes3d[n]
        if color_list is not None:
            color = color_list[n] 
        if draw_text: mlab.text3d(b[4,0], b[4,1], b[4,2], '%d'%n, scale=text_scale, color=color, figure=fig)
        for k in range(0,4):
            #http://docs.enthought.com/mayavi/mayavi/auto/mlab_helper_functions.html
            i,j=k,(k+1)%4
            mlab.plot3d([b[i,0], b[j,0]], [b[i,1], b[j,1]], [b[i,2], b[j,2]], color=color, tube_radius=None, line_width=line_width, figure=fig)

            i,j=k+4,(k+1)%4 + 4
            mlab.plot3d([b[i,0], b[j,0]], [b[i,1], b[j,1]], [b[i,2], b[j,2]], color=color, tube_radius=None, line_width=line_width, figure=fig)

            i,j=k,k+4
            mlab.plot3d([b[i,0], b[j,0]], [b[i,1], b[j,1]], [b[i,2], b[j,2]], color=color, tube_radius=None, line_width=line_width, figure=fig)
    #mlab.show(1)
    #mlab.view(azimuth=180, elevation=70, focalpoint=[ 12.0909996 , -1.04700089, -2.03249991], distance=62.0, figure=fig)
    return fig 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def show_lidar_with_boxes(pc_velo, objects, calib,
                          img_fov=False, img_width=None, img_height=None, fig=None): 
    ''' Show all LiDAR points.
        Draw 3d box in LiDAR point cloud (in velo coord system) '''

    if not fig:
        fig = mlab.figure(figure="KITTI_POINT_CLOUD", bgcolor=(0,0,0), fgcolor=None, engine=None, size=(1250, 550))

    if img_fov:
        pc_velo = get_lidar_in_image_fov(pc_velo, calib, 0, 0, img_width, img_height)

    draw_lidar(pc_velo, fig1=fig)

    for obj in objects:

        if obj.type=='DontCare':continue
        # Draw 3d bounding box
        box3d_pts_2d, box3d_pts_3d = kitti_utils.compute_box_3d(obj, calib.P) 
        box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)

        # Draw heading arrow
        ori3d_pts_2d, ori3d_pts_3d = kitti_utils.compute_orientation_3d(obj, calib.P)
        ori3d_pts_3d_velo = calib.project_rect_to_velo(ori3d_pts_3d)
        x1,y1,z1 = ori3d_pts_3d_velo[0,:]
        x2,y2,z2 = ori3d_pts_3d_velo[1,:]

        draw_gt_boxes3d([box3d_pts_3d_velo], fig=fig, color=(0,1,1), line_width=2, draw_text=False)
        
        mlab.plot3d([x1, x2], [y1, y2], [z1,z2], color=(0.5,0.5,0.5), tube_radius=None, line_width=1, figure=fig)

    mlab.view(distance=90) 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def draw_gt_boxes3d(gt_boxes3d, fig, color=(1,1,1), line_width=1, draw_text=True, text_scale=(1,1,1), color_list=None):
    ''' Draw 3D bounding boxes
    Args:
        gt_boxes3d: numpy array (n,8,3) for XYZs of the box corners
        fig: mayavi figure handler
        color: RGB value tuple in range (0,1), box line color
        line_width: box line width
        draw_text: boolean, if true, write box indices beside boxes
        text_scale: three number tuple
        color_list: a list of RGB tuple, if not None, overwrite color.
    Returns:
        fig: updated fig
    ''' 
    num = len(gt_boxes3d)
    for n in range(num):
        b = gt_boxes3d[n]
        if color_list is not None:
            color = color_list[n] 
        if draw_text: mlab.text3d(b[4,0], b[4,1], b[4,2], '%d'%n, scale=text_scale, color=color, figure=fig)
        for k in range(0,4):
            #http://docs.enthought.com/mayavi/mayavi/auto/mlab_helper_functions.html
            i,j=k,(k+1)%4
            mlab.plot3d([b[i,0], b[j,0]], [b[i,1], b[j,1]], [b[i,2], b[j,2]], color=color, tube_radius=None, line_width=line_width, figure=fig)

            i,j=k+4,(k+1)%4 + 4
            mlab.plot3d([b[i,0], b[j,0]], [b[i,1], b[j,1]], [b[i,2], b[j,2]], color=color, tube_radius=None, line_width=line_width, figure=fig)

            i,j=k,k+4
            mlab.plot3d([b[i,0], b[j,0]], [b[i,1], b[j,1]], [b[i,2], b[j,2]], color=color, tube_radius=None, line_width=line_width, figure=fig)
    #mlab.show(1)
    #mlab.view(azimuth=180, elevation=70, focalpoint=[ 12.0909996 , -1.04700089, -2.03249991], distance=62.0, figure=fig)
    return fig 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def show_lidar_with_boxes(pc_velo, objects, calib,
                          img_fov=False, img_width=None, img_height=None): 
    ''' Show all LiDAR points.
        Draw 3d box in LiDAR point cloud (in velo coord system) '''
    if 'mlab' not in sys.modules: import mayavi.mlab as mlab
    from viz_util import draw_lidar_simple, draw_lidar, draw_gt_boxes3d

    print(('All point num: ', pc_velo.shape[0]))
    fig = mlab.figure(figure=None, bgcolor=(0,0,0),
        fgcolor=None, engine=None, size=(1000, 500))
    if img_fov:
        pc_velo = get_lidar_in_image_fov(pc_velo, calib, 0, 0,
            img_width, img_height)
        print(('FOV point num: ', pc_velo.shape[0]))
    draw_lidar(pc_velo, fig=fig)

    for obj in objects:
        if obj.type=='DontCare':continue
        # Draw 3d bounding box
        box3d_pts_2d, box3d_pts_3d = utils.compute_box_3d(obj, calib.P) 
        box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
        # Draw heading arrow
        ori3d_pts_2d, ori3d_pts_3d = utils.compute_orientation_3d(obj, calib.P)
        ori3d_pts_3d_velo = calib.project_rect_to_velo(ori3d_pts_3d)
        x1,y1,z1 = ori3d_pts_3d_velo[0,:]
        x2,y2,z2 = ori3d_pts_3d_velo[1,:]
        draw_gt_boxes3d([box3d_pts_3d_velo], fig=fig)
        mlab.plot3d([x1, x2], [y1, y2], [z1,z2], color=(0.5,0.5,0.5),
            tube_radius=None, line_width=1, figure=fig)
    mlab.show(1) 

# 需要导入模块: from mayavi import mlab [as 别名]
# 或者: from mayavi.mlab import plot3d [as 别名]
def show_line(self, un1, un2, color='g', scale_factor=0.0005):
        if color == 'b':
            color_f = (0, 0, 1)
        elif color == 'r':
            color_f = (1, 0, 0)
        elif color == 'g':
            color_f = (0, 1, 0)
        else:
            color_f = (1, 1, 1)
        mlab.plot3d([un1[0], un2[0]], [un1[1], un2[1]], [un1[2], un2[2]], color=color_f, tube_radius=scale_factor)